Vehicle steering control apparatus

• US 5,155,426 A
• Filed: 11/12/1991
• Issued: 10/13/1992
• Est. Priority Date: 11/30/1990
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kurami, Kunihiko
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US07/790,402
• Time in Patent Office: 336 Days
• Field of Search: 318/587, 318/590, 180/167, 180/168, 180/169, 250/202, 364/424.01, 364/424.02, 340/465, 901/1, 901/46, 901/47
• US Class Current: 318/587
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

To smoothly switching the steering direction of the vehicle automatically driven along a road, leftward and rightward steering angles (θ_L, θ_R) are obtained on the basis of leftward and rightward white lines and by means of leftward and rightward cameras (7, 8) and image processors (9, 10) and a calculator (12), respectively. The obtained leftward and rightward steering angles are compared by a switching section (3). The steering angle output (θ_out) is switched to the leftward or rightward steering angle (θ_L, θ_R) only when both steering angles first roughly match each other, after the steering angle direction signal has been inputted to the switching section from another travel control unit.

Claims

1. A vehicle steering control apparatus for automatically driving a vehicle along a road on the basis of both road end position information and in response to a steering direction switching signal, comprising:

(a) leftward detecting means for cyclically detecting a leftward road end position data;

(b) leftward steering angle calculating means for calculating a leftward steering angle on the basis of the detected leftward road end position data;

(c) rightward detecting means for cyclically detecting a rightward road end position data;

(d) rightward steering angle calculating means for calculating a rightward steering angle on the basis of the detected rightward road end position data;

(e) switching means for switching a vehicle steering angle output from the calculated leftward steering angle to the calculated rightward steering angle or vice versa in accordance with the steering direction switching signal at a timing when the calculated leftward and rightward angles match each other; and

(f) steering driving means for driving vehicle steering in accordance with the switched steering angle output.

2. The vehicle steering control apparatus of claim 1, wherein said leftward detecting means comprises:

(a) a leftward camera mounted on a front portion of the vehicle, for cyclically taking an image of the leftward road end position information;

(b) a leftward image processor for detecting a leftward distance between the leftward road end position information and a vehicle longitudinal axis at a frontward observation point, and wherein said rightward detecting means comprises;

(c) a rightward camera mounted on a front portion of the vehicle, for cyclically taking an image of the rightward road end position information; and

(d) a rightward image processor for detecting a rightward distance between the rightward road end position information and the vehicle longitudinal axis at the frontward observation point.

3. The vehicle steering control apparatus of claim 1, wherein said switching means comprises:

(a) a JK flip-flop for outputting a first level setting signal in response to a leftward steering direction switching signal and a second level setting signal in response to a rightward steering direction switching signal;

(b) a comparator for comparing the leftward steering angle and the rightward steering angle and outputting a compare signal when differences between the two steering angles becomes less than a predetermined small value;

(c) a D flip-flop for outputting a leftward steering signal in accordance with the first level setting signal and in synchronism with the compare signal and a rightward steering signal in accordance with the second level setting signal and in synchronism with the compare signal;

(d) a leftward switch for outputting the leftward steering angle as a steering angle output in response to the leftward steering signal; and

(e) a rightward switch for outputting the rightward steering angle as a steering angle output in response to the rightward steering signal.

4. The vehicle steering control apparatus of claim 1, both road end position information can be obtained on the basis of leftward and rightward white lines painted on both side ends of a road, respectively.

5. The vehicle steering control apparatus of claim 1, wherein both road end position information can be obtained on the basis of leftward and rightward conical rubbers arranged along both side ends of a road, respectively.

6. A method of automatically driving a vehicle along a road on the basis of both road end position information and in response to a steering direction switching signal, comprising the steps of:

(a) cyclically detecting a leftward distance between the leftward road end position information and a vehicle longitudinal axis at a frontward observation point and a rightward distance between the rightward road end position information and the vehicle longitudinal axis at the frontward observation point;

(b) calculating a leftward steering angle on the basis of the detected leftward distance and a rightward steering angle on the basis of the detected rightward distance;

(c) checking whether the steering direction switching signal is a leftward steering switching signal or a rightward steering switching signal;

(d) if the leftward steering switching signal is checked, checking whether the leftward steering angle is approximately equal to the rightward steering angle;

(e) if approximately equal thereto, switching the steering angle output to the leftward steering angle in accordance with the checked leftward steering switching signal;

(f) if the rightward steering switching signal is checked, checking whether the rightward steering angle is approximately equal to the leftward steering angle; and

(g) if approximately equal thereto, switching the steering angle output to the rightward steering angle in accordance with the checked rightward steering switching signal.

7. The method of claim 6, wherein even if the leftward steering switching signal is checked in step (c) of claim 6, the rightward steering angle is kept outputted as the steering angle output when the rightward steering angle is more than the leftward steering angle;

and even if the rightward steering switching signal is checked in step (c) of claim 6, the leftward steering angle is kept outputted as the steering angle output when the leftward steering angle is more than the rightward steering angle.

8. The method of claim 6, wherein when the leftward steering switching signal is checked in step (c) of claim 6 and further the steering angle output has already been switched to the leftward steering angle, the leftward steering angle is kept outputted as the steering angle output;

and when the rightward steering switching signal is checked in step (c) of claim 6 and further the steering angle output has already been switched to the rightward steering angle, the rightward steering angle is kept outputted as the steering angle output.